CN104569909A - Indoor positioning system and method - Google Patents
Indoor positioning system and method Download PDFInfo
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- CN104569909A CN104569909A CN201410850885.4A CN201410850885A CN104569909A CN 104569909 A CN104569909 A CN 104569909A CN 201410850885 A CN201410850885 A CN 201410850885A CN 104569909 A CN104569909 A CN 104569909A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
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Abstract
The invention relates to an indoor positioning system. Digital processing is conducted on each high-rise building, a three-dimensional model view is built in each room of each floor, a digital model is built for each building, an RFID label is arranged at a gate of stairs of each floor, and the ID numbers of the RFID labels and the floors and the positions where the RFID labels are located are stored in a database system. The indoor positioning system comprises the RFID labels for positioning the start points and activating mobile terminals to start to collect data, a plurality of mobile terminals and a background server. The mobile terminals are used for collecting the indoor environment information and the precise positions in the rooms, transmitting the indoor information to the background server, coding and decoding the input audio information, transmitting the processed information to the server, coding and decoding the received audio information and broadcasting the audio information. The background server is used for receiving data sent by the mobile terminal, integrating the received data, displaying the digital model of whole building through three-dimensional software on the server and mapping the integrated data into the digital model. The system is simple in structure, convenient to use and high in precision.
Description
Technical field
The invention belongs to digital communicating field, particularly relate to a kind of positioning system and method for indoor.
Background technology
Along with the development of mobile terminal, network service and universal, indoor emergency commander as fire-fighting, public security emergency command will more and more digitizing, intellectuality.For fire-fighting commander in chief, he needs the clear position knowing each fire fighter, rationally disposes the fire-fighting manpower in each region, simultaneously when fire fighter faces a danger, can locate rapidly and implement rescue; For public security, there is the situation similar with fire-fighting.These on-the-spot emergency commands have same demand, and reasonable, an efficient emergency commading system can complete these demands easily.
Present emergency commading system majority is defective, and these systems only address only basic communication issue.Generally all can have Emergency communication vehicle at emergent site environment, this can carry the voice and video communication between rescue personnel and command centre.Voice communication can conveniently be linked up, and transmission of video then can allow command centre see on-the-spot environment, proceeds from the situation as a whole to make correct decision-making.But, still there is certain defect in this type systematic similar, each emergency personnel can by the environment situation at scene by transmission of video to control desk, control desk can see each site environment returned, but the video flowing of these passbacks is all independently opened, and control center is difficult to the overall situation of assurance one.Such as, cannot know and know in a certain region, the deployment scenario of rescue manpower, thus manpower is made reasonably dispatch arrangement.There is life danger in the rescue personnel when somewhere, when cannot be linked up by voice and backstage, the video only by passback can only obtain on-the-spot local environment, and does not know the accurate location of on-the-spot personnel at risk at all.
The integrated function of present handheld terminal from strength to strength, except possessing traditional communication module, camera, various sensor (as gyroscope, acceleration transducer), the functions such as tag scan (as RFID, NFC label) are more and more abundanter.These functional modules can be combined completely, form a practical emergency disaster relief solution.
Summary of the invention
The object of the present invention is to provide a kind of positioning system of indoor, be intended to solve above-mentioned technical matters.
The present invention realizes like this, a kind of positioning system of indoor, first every high buildings and large mansions are carried out digitized processing, indoor, every layer, building are all created a three dimensions view, form the digital model in a building, a RFID label tag is set on the stair doorway of every floor, by this RFID label tag No. ID and its floor and position thereof stored in Database Systems; This positioning system comprises:
RFID label tag, starts image data for locating starting point and activating mobile terminal;
Multiple stage mobile terminal, for gathering indoor environmental information and being in indoor accurate location and by indoor information transmission to background server, carrying out encoding and decoding and export to server, carry out encoding and decoding report out to the audio-frequency information received input audio-frequency information;
The data of reception, for the data that mobile terminal receive sends, are integrated by background server, utilize three-dimensional software to be shown by the digital model in Zheng Dong building on the server, are entered in digital model by the data-mapping of integration.
Further technical scheme of the present invention is: described mobile terminal comprises central processing unit, memory module, data communication module, gyro sensor, acceleration transducer, audio coding decoding module, loudspeaker, voice input module, camera, inductive probe and supply module, described central processing unit two-way communication connects described data communication module respectively, memory module and audio frequency solution coding module, the input end of described central processing unit connects described acceleration transducer respectively, gyro sensor, the output terminal of camera and inductive probe, the output terminal of described audio coding decoding module connects described loudspeaker input end, the input end of described audio coding decoding module connects the output terminal of described voice input module, described supply module is electrically connected described central processing unit respectively, memory module, data communication module, gyro sensor, acceleration transducer, audio coding decoding module, loudspeaker, voice input module, camera and inductive probe.
Further technical scheme of the present invention is: described data communication module comprises WIFI unit and Mobile data networking unit.
Further technical scheme of the present invention is: described mobile data communication unit adopts GPRS communication or 3G communication or 4G to communicate.
Further technical scheme of the present invention is: the acceleration transducer of what described acceleration transducer adopted is twin shaft.
Further technical scheme of the present invention is: the gyro sensor of what described gyro sensor adopted an is axle.
Another object of the present invention is to the localization method providing a kind of indoor based on the positioning system described in claim 1-7, this localization method comprises the following steps:
A, mobile terminal read the follow-up service of FRID label information open site through stair doorway and positional information are uploaded to background server in real time;
B, server receive FRID label information and go coupling building data library lookup to should floor and position residing for RFID label tag;
C, determine that mobile terminal opens the three-dimensional model view of this floor and the inertial navigation started on mobile terminal in the position of this floor;
D, obtain the accurate location of mobile terminal in these floor indoor according to inertial navigation;
E, all location information datas is imported the integral layout showing current mobile terminal in the indoor three-dimensional model view of floor;
The motion track of F, the real-time displaying scene mobile terminal of circulation execution step C-E and position distribution situation.
Further technical scheme of the present invention is: described steps A is further comprising the steps of:
Whether the RFID label tag that A1, judgement read is legal label; In this way, then steps A 2 is performed; As no, then RFID label tag read to this and do not process;
A2, start the gyro sensor of mobile terminal and acceleration transducer obtain current mobile terminal towards the acceleration with all directions.
Further technical scheme of the present invention is: further comprising the steps of in described step C:
C1, at set intervals interval t obtain the acceleration of the mobile terminal that collects of sensor in x and y direction and angular velocity omega;
The ID of C2, the data collected by mobile terminal and mobile terminal is transferred to background server;
C3, the data sent according to mobile terminal calculate the actual position of mobile terminal.
The invention has the beneficial effects as follows: by 3-D view is combined with the position coordinates of mobile terminal, localized view accurately, is fast located in indoor realization, the deployment scenario of indoor moving terminal can be grasped in conjunction with the camera shooting of terminal; This positioning system structure is simple, easy to use, accuracy is high, workable.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the positioning system of the indoor that the embodiment of the present invention provides;
Fig. 2 is the interface framework of the mobile terminal that the embodiment of the present invention provides;
Fig. 3 is the process flow diagram of the localization method of the indoor that the embodiment of the present invention provides
Fig. 4 is an angular deviation figure of the real coordinate system xy that provides of the embodiment of the present invention and mobile terminal coordinate system x ' y '.
Embodiment
Reference numeral: 1-RFID label 2-mobile terminal 3-background server 201-central processing unit 202-audio coding decoding module 203-data communication module 204-gyro sensor 205-acceleration transducer 206-memory module 207 inductive probe 208-camera 209-voice input module 210-loudspeaker 211-supply module.
Fig. 1-2 shows the positioning system of indoor provided by the invention, first every high buildings and large mansions are carried out digitized processing, indoor, every layer, building are all created a three dimensions view, form the digital model in a building, a RFID label tag is set on the stair doorway of every floor, by this RFID label tag No. ID and its floor and position thereof stored in Database Systems; This positioning system comprises:
RFID label tag, starts image data for locating starting point and activating mobile terminal;
Multiple stage mobile terminal, for gathering indoor environmental information and being in indoor accurate location and by indoor information transmission to background server, carrying out encoding and decoding and export to server, carry out encoding and decoding report out to the audio-frequency information received input audio-frequency information;
The data of reception, for the data that mobile terminal receive sends, are integrated by background server, utilize three-dimensional software to be shown by the digital model in Zheng Dong building on the server, are entered in digital model by the data-mapping of integration.
Positioning system is mentioned according to the present invention, need the first digitizing of requirement every high buildings and large mansions, in order to realize location, a RFID label tag can be provided with at the stairs port of high building every layer, by this RFID label tag No. ID and residing floor and position thereof stored in Database Systems; Simultaneously again in order to the convenience of backstage simulated field environment, need the three dimensions view providing every layer, building indoor, can not as must condition in this digital Construction in the early stage.Such building digital model has just possessed simple indoor positioning basis.
Owing to being mainly used in emergency management and rescue, all need instant Switching power under general this environment, active equipment on-the-spot like this cannot normally work.So RFID label tag is preferably made passive, the effective communication distance of passive label is generally no more than 2 meters, under emergency conditions, stairexit can be a necessary channel, therefore label is positioned over this, can be one and well selects, each personnel can first start to position through this.Application the present invention, only need settle this label at each stairs port of every layer, and install without the need to each corner in indoor, and remaining location just transfers to mobile terminal.
Described mobile terminal comprises central processing unit, memory module, data communication module, gyro sensor, acceleration transducer, audio coding decoding module, loudspeaker, voice input module, camera, inductive probe and supply module, described central processing unit two-way communication connects described data communication module respectively, memory module and audio frequency solution coding module, the input end of described central processing unit connects described acceleration transducer respectively, gyro sensor, the output terminal of camera and inductive probe, the output terminal of described audio coding decoding module connects described loudspeaker input end, the input end of described audio coding decoding module connects the output terminal of described voice input module, described supply module is electrically connected described central processing unit respectively, memory module, data communication module, gyro sensor, acceleration transducer, audio coding decoding module, loudspeaker, voice input module, camera and inductive probe.
Described data communication module comprises WIFI unit and Mobile data networking unit.
Described mobile data communication unit adopts GPRS communication or 3G communication or 4G to communicate.
The acceleration transducer of what described acceleration transducer adopted is twin shaft.
The gyro sensor of what described gyro sensor adopted an is axle.
Mobile terminal at least needs the configuration acceleration transducer of diaxon and the gyro sensor of an axle.Because location is all carried out in same level, as long as determine the particular location of surface level, without the need to being concerned about the displacement of vertical direction, therefore the acceleration transducer of diaxon can meet the demands, two axle acceleration a of acquisition for mobile terminal
x 'and a
y ', be that the coordinate system of relative movement terminal itself comes, and in actual job process, this coordinate system may change at any time.Turn because may have at any time when rescue personnel carries the walking of this mobile terminal or turn to, such as to arrive certain destination, can by front walking in the past, also can walk in the past in side, these two kinds of processes are for mobile terminal, and its coordinate system is inconsistent.In order to clear know that operating personnel advances towards or orientation, mobile terminal also needs the gyroscope configuring at least one axle.Thus the true displacement of mobile terminal can be obtained, location is made to mobile terminal.
As shown in Figure 4, be an angular deviation figure of real coordinate system and mobile terminal coordinate system, real coordinate system is fixing, and level is to the right x direction, is y direction vertically upward.But mobile phone is fixed on it rescue personnel, can carry out 360 degree in the horizontal direction and turn to, its coordinate and real coordinate system have the deviation of an angle θ like this.
The parameter that can be got by mobile terminal comprises rotational angular velocity ω and acceleration a
x 'and a
y '.Can adjust original state, real coordinate system and moving coordinate system can be coincide, so after t, the angle θ of real coordinate system and end coordinates system difference is:
Formula one:
The data a that equipment gets from acceleration transducer
x 'and a
y 'be transformed into a of real coordinate system
xand a
y(a as follows
x ', a
y ', a
xand a
ybeing all the function of time t, is namely all constantly change):
Formula two:
a
y(t)＝a
y′(t)cosθ-a
x′(t)sinθ；
a
x(t)＝a
x′(t)cosθ+a
y′(t)sinθ。
Assuming that initial velocity is 0, when namely starting most to enter label induction region, mobile terminal is static, then can calculate mobile terminal by accelerometer above, that is rescue personnel is in the displacement in horizontal and vertical direction, thus calculates overall displacements, as follows:
Formula three:
From the position distribution of each rescue personnel of global knowledge, according to the emergency case at scene, can promptly can make having more and reasonably distribute deployment; Command centre can help field rescue personnel specification optimal route more easily.When rescue personnel receive task arrangement to arrive certain position time, command centre can according to the position of current rescue personnel and residing towards, direct voice command it toward which direction to advance, and tell the general distance residing for rescue personnel's target; Due to the motion track of each rescue personnel can be obtained, more clearly can grasp the handling situations of field rescue personnel, carry out better and reward according to attribution.
Fig. 3 shows the process flow diagram of the localization method of the positioning system based on indoor provided by the invention, details are as follows for it: first every high buildings and large mansions are carried out digitized processing, indoor, every layer, building are all created a three dimensions view, form the digital model in a building, a RFID label tag is set on the stair doorway of every floor, by this RFID label tag No. ID and its floor and position thereof stored in Database Systems;
Step S1, when emergency management and rescue start, the body of rescue personnel is all equipped with above-mentioned mobile terminal, when rescue personnel enters indoor by stair doorway, mobile terminal with inductive probe, the corresponding label information in stair doorway can be read, then start to carry out position follow-up service, and this positional information is uploaded to backstage in real time; Also comprise in the process: after mobile terminal reads label information, mobile terminal can judge whether the RFID label tag read is legal label; If what read is legitimate tag, then perform step below, if what read is illegal label, then the RFID label tag that this reads is left intact; After the FRID label information confirming to read is legal information, mobile terminal starts the gyro sensor and acceleration transducer that self are equipped with automatically, and from gyro sensor obtain current mobile terminal towards, from acceleration transducer, lake region mobile terminal is at the acceleration of all directions, the data message obtained by son two kinds of sensors is after central processing unit simply processes, be pushed to data communication module and be transferred to background server, the ID of the label information recognized and this mobile terminal identification is also uploaded to background server in the lump simultaneously.
Step S2, when background server receives the label information sent from mobile terminal, the floor information found, to should floor and positional information residing for RFID label tag, directly recalls by the database lookup that can go to mate this building in a database.
Step S3, after recalling the information of this floor, determines that mobile terminal that rescue personnel carries is in the position of this floor, if there is the three-dimensional model view of this floor, then start three-dimensional model view, three-dimensional model view is being ready to, start the inertial navigation unit on mobile terminal; Every the time interval t of a section very little after enabling inertial navigation, the sensing data that the mobile terminal that acquisition rescue personnel carries is collected, wherein sensing data comprises the acceleration in x and the y direction that acceleration transducer collects, and the angular velocity omega that gyro sensor obtains; The data that mobile terminal is collected and the sign of mobile terminal, long-range background server is transferred to by data communication module, for the layout reference of the whole rescue of command centre's layout, after background server receives the data that mobile terminal sends over, the actual position coordinate of corresponding mobile terminal can be calculated; This computation process can complete at mobile terminal, also can complete in background service center, depends on the performance of server and handheld terminal.If handheld terminal possesses certain handling property, simultaneously battery life is enough, then can calculate the actual position coordinate of oneself completely in the terminal, then directly sends this position coordinates to background server.
Step S4, according to the position coordinates of mobile terminal in indoor that inertial navigation obtains, background server can get the accurate location of all mobile terminals in indoor, namely the position of rescue personnel.
Step S5, imports to the positional information of all mobile terminals in the indoor three-dimensional model view of existing floor, can show the integral layout of current mobile terminal in this view.Personnel in commander can make rational adjustment according to current arrangements.
Step S6, circulation performs motion track and the position distribution situation of the real-time displaying scene mobile terminal of step S3-S5.Meanwhile, although existing on-the-spot emergency commading system can obtain on-the-spot situation by the camera of mobile terminal in real time, still there is defect.Because the video of these passbacks is all the one-dimensional space, command centre is difficult to hold on-the-spot situation, such as how far is equipped with from target bit.In order to play the effect of emergency disaster relief better, mobile terminal homonymy can configure at least two cameras, so just can obtain on-the-spot 3-D view, the distance between certain two point can be known, understand on-the-spot situation more comprehensively, in conjunction with above be inertial navigation technology, by more ideally guide field operation.
The all necessary digitizing of all floor buildings, is equipped with RFID passive label in each emergent gateway; Each label ID, comprise the digitalized data storehouse system that corresponding floor location information must write this building.When all mobile terminals read legal RFID label tag, from this place as starting point, start to gather sensor data.The sensor data collected are reported to remote command center by communication network by mobile terminal.Timing from starting point, t=0, the starting coordinate position deviation number of degrees are 0, and initial velocity is 0, and displacement S is 0; After having served as very short a bit of time t second, record current instantaneous angular velocity omega, acceleration a
x 'and a
y '.ω t is the angle of rotation, adds the angle before moment t second, as current angle θ.A is calculated according to formula two
xand a
y.Then a
xt and a
yt represents the variable quantity of speed respectively, adds the speed before moment t second, is current speed v
xand v
y.Then v
xt and v
yt is and currently relatively goes up the displacement before moment t second.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. an indoor positioning system, it is characterized in that, first every high buildings and large mansions are carried out digitized processing, indoor, every layer, building are all created a three dimensions view, form the digital model in a building, a RFID label tag is set on the stair doorway of every floor, by this RFID label tag No. ID and its floor and position thereof stored in Database Systems; This positioning system comprises:
RFID label tag, starts image data for locating starting point and activating mobile terminal;
Multiple stage mobile terminal, for gathering indoor environmental information and being in indoor accurate location and by indoor information transmission to background server, carrying out encoding and decoding and export to server, carry out encoding and decoding report out to the audio-frequency information received input audio-frequency information;
The data of reception, for the data that mobile terminal receive sends, are integrated by background server, utilize three-dimensional software to be shown by the digital model in Zheng Dong building on the server, are entered in digital model by the data-mapping of integration.
2. positioning system according to claim 1, it is characterized in that, described mobile terminal comprises central processing unit, memory module, data communication module, gyro sensor, acceleration transducer, audio coding decoding module, loudspeaker, voice input module, camera, inductive probe and supply module, described central processing unit two-way communication connects described data communication module respectively, memory module and audio frequency solution coding module, the input end of described central processing unit connects described acceleration transducer respectively, gyro sensor, the output terminal of camera and inductive probe, the output terminal of described audio coding decoding module connects described loudspeaker input end, the input end of described audio coding decoding module connects the output terminal of described voice input module, described supply module is electrically connected described central processing unit respectively, memory module, data communication module, gyro sensor, acceleration transducer, audio coding decoding module, loudspeaker, voice input module, camera and inductive probe.
3. positioning system according to claim 2, is characterized in that, described data communication module comprises WIFI unit and Mobile data networking unit.
4. positioning system according to claim 3, is characterized in that, described mobile data communication unit adopts GPRS communication or 3G communication or 4G to communicate.
5. positioning system according to claim 4, is characterized in that, the acceleration transducer of what described acceleration transducer adopted is twin shaft.
6. positioning system according to claim 5, is characterized in that, the gyro sensor of what described gyro sensor adopted an is axle.
7. based on a localization method for the indoor of the positioning system described in claim 1-6, it is characterized in that, this localization method comprises the following steps:
A, mobile terminal read the follow-up service of FRID label information open site through stair doorway and positional information are uploaded to background server in real time;
B, server receive FRID label information and go coupling building data library lookup to should floor and position residing for RFID label tag;
C, determine that mobile terminal opens the three-dimensional model view of this floor and the inertial navigation started on mobile terminal in the position of this floor;
D, obtain the accurate location of mobile terminal in these floor indoor according to inertial navigation;
E, all location information datas is imported the integral layout showing current mobile terminal in the indoor three-dimensional model view of floor;
The motion track of F, the real-time displaying scene mobile terminal of circulation execution step C-E and position distribution situation.
8. localization method according to claim 7, is characterized in that, described steps A is further comprising the steps of:
Whether the RFID label tag that A1, judgement read is legal label; In this way, then steps A 2 is performed; As no, then RFID label tag read to this and do not process;
A2, start the gyro sensor of mobile terminal and acceleration transducer obtain current mobile terminal towards the acceleration with all directions.
9. localization method according to claim 8, is characterized in that, further comprising the steps of in described step C:
C1, at set intervals interval t obtain the acceleration of the mobile terminal that collects of sensor in x and y direction and angular velocity;
The ID of C2, the data collected by mobile terminal and mobile terminal is transferred to background server;
C3, the data sent according to mobile terminal calculate the actual position of mobile terminal.
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| CN111758015B (en) * | 2018-03-02 | 2024-02-09 | 三菱电机楼宇解决方案株式会社 | Dynamic detection device and dynamic detection method |
| CN109855678A (en) * | 2018-12-28 | 2019-06-07 | 广东匠格装饰设计工程有限公司 | A kind of environmental monitoring system for the interior space |
| CN110087183A (en) * | 2019-04-26 | 2019-08-02 | 福建科立讯通信有限公司 | A kind of intercom indoor orientation method based on acceleration transducer and RFID |
| CN110307844A (en) * | 2019-07-26 | 2019-10-08 | 马鞍山市科泰电气科技有限公司 | A kind of factory personnel Position Fixing Navigation System and method based on 3 d modeling system |
| WO2022000210A1 (en) * | 2020-06-29 | 2022-01-06 | 深圳市大疆创新科技有限公司 | Method and device for analyzing target object in site |
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